#pragma once
#ifndef MULTI_ROBOT_CLEARANCE_DETECTOR_H
#define MULTI_ROBOT_CLEARANCE_DETECTOR_H

#include "basic_typedef.h"
#include "Clearance_detector_ie.h"

class MultiRobotClearanceDetector
{
public:
    MultiRobotClearanceDetector(vector<Polygon_2> &robot_polygons, int robot_num, Obstacles &obstacles);
    
    double clearance(Point_d point);

private:
    vector<Polygon_2>           &m_robot_polygons;
    int                         m_robot_num;
    Obstacles                   &m_obstacles;

    vector<Clearance_detector_ie> m_clearences;
};

#endif